diff --git a/arduino/Payload_BME280_MPU6050_XS_GPS.ino b/arduino/Payload_BME280_MPU6050_XS_GPS.ino
new file mode 100644
index 00000000..e62b75ec
--- /dev/null
+++ b/arduino/Payload_BME280_MPU6050_XS_GPS.ino
@@ -0,0 +1,302 @@
+#include <Wire.h>
+#include <Adafruit_Sensor.h>
+#include <Adafruit_BME280.h>
+#include <MPU6050_tockn.h>
+#include <EEPROM.h>
+#include <TinyGPS.h>
+
+#define SEALEVELPRESSURE_HPA (1013.25)
+
+Adafruit_BME280 bme;
+MPU6050 mpu6050(Wire);
+TinyGPS gps;
+
+long timer = 0;
+int bmePresent;
+int RXLED = 17;  // The RX LED has a defined Arduino pin
+int greenLED = 9;
+int blueLED = 8;
+int Sensor1 = 0;
+int Sensor2 = 0;
+float Sensor3 = 0;
+void eeprom_word_write(int addr, int val);
+short eeprom_word_read(int addr);
+float flat, flon;
+
+void setup() {
+
+  Serial.begin(9600); // Serial Monitor for testing
+
+  Serial1.begin(9600);  // Pi UART
+
+  Serial2.begin(9600);  // GPS on STM32 pins PA2, PA3
+
+  Serial.println("Starting!");
+
+  blink_setup();
+
+  blink(500);
+  delay(250);
+  blink(500);
+  delay(250);
+  blink(500);
+  delay(250);  
+  
+  if (bme.begin(0x76)) {
+    bmePresent = 1;
+  } else {
+    Serial.println("Could not find a valid BME280 sensor, check wiring!");
+    bmePresent = 0;
+  }
+
+  mpu6050.begin();
+
+  if (eeprom_word_read(0) == 0xA07)
+  {
+    Serial.println("Reading gyro offsets from EEPROM\n");
+
+    float xOffset = ((float)eeprom_word_read(1)) / 100.0;
+    float yOffset = ((float)eeprom_word_read(2)) / 100.0;
+    float zOffset = ((float)eeprom_word_read(3)) / 100.0;
+
+    Serial.println(xOffset, DEC);
+    Serial.println(yOffset, DEC);
+    Serial.println(zOffset, DEC);
+
+    mpu6050.setGyroOffsets(xOffset, yOffset, zOffset);
+  }
+  else
+  {
+    Serial.println("Calculating gyro offsets and storing in EEPROM\n");
+
+    mpu6050.calcGyroOffsets(true);
+
+    eeprom_word_write(0, 0xA07);
+    eeprom_word_write(1, (int)(mpu6050.getGyroXoffset() * 100.0) + 0.5);
+    eeprom_word_write(2, (int)(mpu6050.getGyroYoffset() * 100.0) + 0.5);
+    eeprom_word_write(3, (int)(mpu6050.getGyroZoffset() * 100.0) + 0.5);
+
+    Serial.println(eeprom_word_read(0), HEX);
+    Serial.println(((float)eeprom_word_read(1)) / 100.0, DEC);
+    Serial.println(((float)eeprom_word_read(2)) / 100.0, DEC);
+    Serial.println(((float)eeprom_word_read(3)) / 100.0, DEC);
+  }
+  pinMode(greenLED, OUTPUT);
+  pinMode(blueLED, OUTPUT);
+}
+
+void loop() {
+
+  if (Serial.available() > 0) {
+    blink(50);
+    char result = Serial.read();
+    //       Serial.println(result);
+
+    if (result == 'R') {
+      Serial.println("OK");
+      delay(500);
+      setup();
+    }
+
+    if (result == '?')
+    {
+      if (bmePresent) {
+        Serial.print("OK BME280 ");
+        Serial.print(bme.readTemperature());
+        Serial.print(" ");
+        Serial.print(bme.readPressure() / 100.0F);
+        Serial.print(" ");
+        Serial.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
+        Serial.print(" ");
+        Serial.print(bme.readHumidity());
+      } else
+      {
+        Serial.print("OK BME280 0.0 0.0 0.0 0.0");
+      }
+      mpu6050.update();
+
+      Serial.print(" MPU6050 ");
+      Serial.print(mpu6050.getGyroX());
+      Serial.print(" ");
+      Serial.print(mpu6050.getGyroY());
+      Serial.print(" ");
+      Serial.print(mpu6050.getGyroZ());
+
+    Serial.print(" ");
+    Serial.print(mpu6050.getAccX());   
+    Serial.print(" ");
+    Serial.print(mpu6050.getAccY());   
+    Serial.print(" ");
+    Serial.print(mpu6050.getAccZ());  
+    
+    Serial.print(" XS ");
+    Serial.print(Sensor1);   
+    Serial.print(" ");
+    Serial.print(Sensor2);              
+    Serial.print(" ");
+    Serial.print(Sensor3);  
+
+    Serial.println(" GPS 0.0 0.0");
+    
+    bool newData = false;
+    unsigned long chars;
+    unsigned short sentences, failed;
+  
+    while (Serial2.available())
+    {
+      char c = Serial2.read();
+      Serial.write(c); // uncomment this line if you want to see the GPS data flowing
+      if (gps.encode(c)) // Did a new valid sentence come in?
+        newData = true;
+    }
+     if (newData)
+  {
+    unsigned long age;
+    gps.f_get_position(&flat, &flon, &age);
+    Serial.print("LAT=");
+    Serial.print(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flat, 6);
+    Serial.print(" LON=");
+    Serial.print(flon == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flon, 6);
+    Serial.print(" SAT=");
+    Serial.print(gps.satellites() == TinyGPS::GPS_INVALID_SATELLITES ? 0 : gps.satellites());
+    Serial.print(" PREC=");
+    Serial.print(gps.hdop() == TinyGPS::GPS_INVALID_HDOP ? 0 : gps.hdop());
+  }
+      
+    float rotation = sqrt(mpu6050.getGyroX()*mpu6050.getGyroX() + mpu6050.getGyroY()*mpu6050.getGyroY() + mpu6050.getGyroZ()*mpu6050.getGyroZ()); 
+    float acceleration = sqrt(mpu6050.getAccX()*mpu6050.getAccX() + mpu6050.getAccY()*mpu6050.getAccY() + mpu6050.getAccZ()*mpu6050.getAccZ()); 
+//    Serial.print(rotation);
+//    Serial.print(" ");
+//    Serial.println(acceleration);
+
+    if (acceleration > 1.2)
+        digitalWrite(greenLED, HIGH);
+    else
+        digitalWrite(greenLED, LOW);
+        
+    if (rotation > 5)
+        digitalWrite(blueLED, HIGH);
+    else
+        digitalWrite(blueLED, LOW);          
+    }    
+  }
+
+  if (Serial1.available() > 0) {
+ 
+    blink(50);
+    char result = Serial1.read();
+    //    Serial1.println(result);
+
+    if (result == 'R') {
+      Serial1.println("OK");
+      delay(500);
+      setup();
+    }
+
+    if (result == '?')
+    {
+      if (bmePresent) {
+        Serial1.print("OK BME280 ");
+        Serial1.print(bme.readTemperature());
+        Serial1.print(" ");
+        Serial1.print(bme.readPressure() / 100.0F);
+        Serial1.print(" ");
+        Serial1.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
+        Serial1.print(" ");
+        Serial1.print(bme.readHumidity());
+      } else
+      {
+        Serial1.print("OK BME280 0.0 0.0 0.0 0.0");
+      }
+      mpu6050.update();
+
+      Serial1.print(" MPU6050 ");
+      Serial1.print(mpu6050.getGyroX());
+      Serial1.print(" ");
+      Serial1.print(mpu6050.getGyroY());
+      Serial1.print(" ");
+      Serial1.print(mpu6050.getGyroZ());
+
+    Serial1.print(" ");
+    Serial1.print(mpu6050.getAccX());   
+    Serial1.print(" ");
+    Serial1.print(mpu6050.getAccY());   
+    Serial1.print(" ");
+    Serial1.print(mpu6050.getAccZ());   
+  
+    Serial1.print(" XS ");
+    Serial1.print(Sensor1);   
+    Serial1.print(" ");
+    Serial1.print(Sensor2);              
+    Serial1.print(" ");
+    Serial1.print(Sensor3);    
+
+    Serial1.println(" GPS 0.0 0.0");
+    
+    float rotation = sqrt(mpu6050.getGyroX()*mpu6050.getGyroX() + mpu6050.getGyroY()*mpu6050.getGyroY() + mpu6050.getGyroZ()*mpu6050.getGyroZ()); 
+    float acceleration = sqrt(mpu6050.getAccX()*mpu6050.getAccX() + mpu6050.getAccY()*mpu6050.getAccY() + mpu6050.getAccZ()*mpu6050.getAccZ()); 
+//    Serial.print(rotation);
+//    Serial.print(" ");
+//    Serial.println(acceleration);
+
+    if (acceleration > 1.2)
+        digitalWrite(greenLED, HIGH);
+    else
+        digitalWrite(greenLED, LOW);
+        
+    if (rotation > 5)
+        digitalWrite(blueLED, HIGH);
+    else
+        digitalWrite(blueLED, LOW);
+    }
+  }
+
+//  delay(100);
+}
+
+void eeprom_word_write(int addr, int val)
+{
+  EEPROM.write(addr * 2, lowByte(val));
+  EEPROM.write(addr * 2 + 1, highByte(val));
+}
+
+short eeprom_word_read(int addr)
+{
+  return ((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
+}
+
+void blink_setup() 
+{
+#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)  
+  // initialize digital pin PB1 as an output.
+  pinMode(PC13, OUTPUT);
+#endif
+
+#if defined __AVR_ATmega32U4__
+  pinMode(RXLED, OUTPUT);  // Set RX LED as an output
+  // TX LED is set as an output behind the scenes
+#endif
+}
+
+void blink(int length)
+{
+#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
+  digitalWrite(PC13, LOW);   // turn the LED on (HIGH is the voltage level)
+#endif
+
+#if defined __AVR_ATmega32U4__
+  digitalWrite(RXLED, LOW);   // set the RX LED ON
+  TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
+#endif  
+
+  delay(length);              // wait for a lenth of time
+
+#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
+  digitalWrite(PC13, HIGH);    // turn the LED off by making the voltage LOW
+#endif
+
+#if defined __AVR_ATmega32U4__
+  digitalWrite(RXLED, HIGH);    // set the RX LED OFF
+  TXLED0; //TX LED macro to turn LED ON
+#endif  
+}